EP4212820A1 - Traktoranhänger - Google Patents

Traktoranhänger Download PDF

Info

Publication number
EP4212820A1
EP4212820A1 EP23151346.6A EP23151346A EP4212820A1 EP 4212820 A1 EP4212820 A1 EP 4212820A1 EP 23151346 A EP23151346 A EP 23151346A EP 4212820 A1 EP4212820 A1 EP 4212820A1
Authority
EP
European Patent Office
Prior art keywords
trailer
tractor
load
detection device
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23151346.6A
Other languages
English (en)
French (fr)
Inventor
Tommaso PESSO
Monica Giovannucci
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Material Handling Manufacturing Italy SpA
Original Assignee
Toyota Material Handling Manufacturing Italy SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Material Handling Manufacturing Italy SpA filed Critical Toyota Material Handling Manufacturing Italy SpA
Publication of EP4212820A1 publication Critical patent/EP4212820A1/de
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/005—Combinations with at least three axles and comprising two or more articulated parts

Definitions

  • This invention relates to a tractor-trailer which is widely used in industry and in particular in industrial production chains, but also, for example, in ports, airport and interports.
  • tractor-trailers are small vehicles equipped with a manual, semi-autonomous or autonomous driving system, which is able to move a generic load from one point to another of a factory, or for example a shed, or along a production chain.
  • the tractor-trailers used to manage and coordinate the transport of materials in an industrial context generally consist of a tractor unit which pulls one or more trailers.
  • the load to be transported which may have different shapes and sizes, is positioned on a respective trailer.
  • the loads transported by the tractor-trailers have "standard" dimensions and measurements.
  • a so-called "oversize load” requires certain measures to be taken in the positioning on the trailer, in order to comply with a correct distribution of the weight, so as to prevent a relative movement of the load, or its overturning, during the travel of the tractor-trailer.
  • the tractor-trailer makes it possible to acquire information on the trailer and on the surrounding environment, adapting itself to the overall dimensions of the load transported by the trailer.
  • the numeral 1 denotes a tractor-trailer according to the invention.
  • the tractor-trailer 1 is configured for moving various types of materials, including, for example, but without limiting the scope of the invention, components for machinery, packaging, spare parts, pallets.
  • the tractor-trailer 1 comprises a tractor unit 2 and at least one trailer 3 connected to the tractor unit 2.
  • the tractor unit 2 is the part of the tractor-trailer 1 which directs the trajectory of forward movement.
  • the trailer 3 is connected to the tractor unit 2 and is configured for transporting at least one load 4.
  • load is used to mean, for the entire description, any object being transported by the tractor-trailer 1.
  • the tractor-trailer 1 comprises a detection device 5 configured for detecting an area defined by at least part of the trailer 3 and the surrounding environment.
  • the detection device 5 is an optical sensor, for example, in a non-limiting manner, of the lidar, laser, scanner or video camera type.
  • the detection device 5 is a radar.
  • the tractor-trailer 1 comprises a system 6 for lifting the detection device 5.
  • the lifting system 6 is configured to move the detection device 5 at least from a first height Q1 to a second height Q2, greater than the first height Q1, and vice versa.
  • the lifting system 6 is configured for moving the detection device 5 to different possible heights, raising or lowering the detection device 5.
  • the lifting system 6 of the detection device 5 is configured to move the detection device 5 to a height greater than the top of a load 4.
  • top is used to mean the maximum height reached by the load 4.
  • the lifting system 6 moves the detection device 5 so that it reaches a second height Q2 greater than the height Q.
  • the lifting system 6 prevents the detection of data by the detection device 5 from being limited or prevented by the height of the load 4.
  • a load 4 which reaches a height greater than the height at which the detection device 5 is positioned would significantly limit the effective field of vision, preventing the detection of any object located outside the load 4.
  • the tractor-trailer 1 comprises a control unit U.
  • the control unit U is configured to receive and process the data detected by the detection device 5, that is to say, the data relating to the area defined by at least part of the trailer 3 and the surrounding environment.
  • the control unit U is configured to determine at least one size of the load 4 starting from the processing of the data detected by the detection device 5.
  • the size of the load 4 determined by the control unit U is, for example, the volume or a surface of the load 4.
  • the at least one size corresponds to at least one between length, width and height of the load 4.
  • control unit U is able to determine overall dimensions of the load 4.
  • the expression "determine overall dimensions of the load 4" is used to mean determining at least one, preferably two, between the length, width and height of the load 4.
  • the tractor-trailer 1 comprises a plurality of trailers 3 which are connected to each other.
  • the control unit U is configured to receive and process at least one piece of information relating to the number of trailers 3.
  • the control unit U is configured to receive the data measured by the detection device 5 and is configured to process the number of trailers 3 of the tractor-trailer 1.
  • control unit U is configured for determining for each trailer 3 at least one size of the load 4.
  • these sizes correspond to the length, width and height of the load 4 positioned on each of the trailers 3 of the tractor-trailer 1.
  • the control unit U can determine, for each of the trailers 3, overall dimensions of a respective load 4.
  • the lifting system 6 comprises an actuator 12, for example a telescopic pneumatic jack or an electric linear actuator.
  • the actuator 12 of the lifting system 6 is a four-bar linkage.
  • the detection device 5 and the respective lifting system 6 are positioned on the tractor unit 2.
  • the tractor-trailer 1 comprises means 7 for moving the detection device 5.
  • the movement means 7 are configured to rotate the detection device 5 about an axis of rotation A.
  • the movement means 7 are configured for moving the detection device 5 according to at least one degree of rotational freedom.
  • the axis of rotation A of the detection device 5 is a horizontal axis positioned transversal to the direction of forward movement of the tractor-trailer 1.
  • the axis of rotation A is positioned along a direction Z according to an XYZ Cartesian system, wherein the direction of the axis X is a horizontal direction, the direction of the axis Y is vertical and the direction of forward movement of the tractor-trailer 1 is parallel to the axis X.
  • the rotation of the detection device 5 about the axis of rotation A makes it possible to modify the area which the detection device 5 detects.
  • the rotation of the detection device 5 about the axis of rotation A allows the detection device 5 to be inclined downwards, that is to say, towards the ground, to improve the acquisition of data measured in the field of vision.
  • the movement means 7 comprise a ball joint configured to allow the rotation of the detection device 5 according to three degrees of rotational freedom.
  • the movement means 7 comprise an actuator 13 configured to rotate the detection device 5.
  • the actuator 13 is, for example, a rotary electric motor.
  • the system 6 for lifting the detection device 5 and the movement means 7 it is possible to obtain data regarding an area defined by at least part of the trailer 3 and the environment surrounding the tractor-trailer 1 using a single detection device 5, for example, with a single optical sensor.
  • the tractor-trailer 1 comprises a first sensor 8 configured to measure a vertical movement of the detection device 5.
  • the first sensor 8 is an encoder, for example a linear encoder.
  • the first sensor 8 is an incremental or absolute linear encoder.
  • the first sensor 8 is, for example, a magnetic, optical or capacitive encoder.
  • the first sensor 8 detects the height (Q1, Q2) of the detection device 5.
  • the control unit U is configured to receive and process the data detected by the first sensor 8.
  • the tractor-trailer 1 comprises a second sensor 9 configured to detect an angular movement of the detection device 5 about the axis of rotation A.
  • the second sensor 9 is an encoder, for example a rotary encoder.
  • the second sensor 9 is an incremental or absolute linear encoder.
  • the second sensor 9 is, for example, a magnetic, optical or capacitive encoder.
  • the control unit U is configured to receive and process the data detected by the second sensor 9.
  • control unit U is configured to receive and process the data detected by the first sensor 8 and by the second sensor 9 in combination with data detected by the detection device 5.
  • combining the data detected by the first sensor 8 and by the second sensor 9 with the data detected by the detection device 5 makes it possible to associate height and angular movement of the detection device 5 with the data of the area which the detection device 5 has detected.
  • the tractor-trailer 1 comprises a control unit C configured for sending a control signal of the lifting system 6 and/or of the movement means 7.
  • control unit C by means of control signals, activates the lifting system 6 and/or the movement means 7 respectively for translating vertically and/or rotating the detection device 5.
  • the control unit C is connected to the control unit U.
  • the control signal is sent, for example, as a function of the height Q reached by the load 4 or as a function of a size of the load 4 determined by the control unit U.
  • the control unit U is configured for determining a plurality of vertices V of a flat surface S defining a top surface S1 of the load 4 positioned on a respective trailer 3.
  • control unit U is configured to perform a reconstruction of images as a function at least of the data detected by the detection device 5.
  • determining a plurality of vertices V of a flat surface S defining a top surface S1 of the load 4 makes it possible to recognise the presence or absence of the load 4 on the trailer 3.
  • determining a plurality of vertices V of a flat surface S defining a top surface S1 of the load 4 makes it possible to obtain information regarding the overall dimensions of the load 4 positioned on the trailer 3.
  • the top of the load 4' reaches the height Q which is greater than the height Q1 at which the detection device 5 makes first contact.
  • the control unit C sends a control signal of the lifting system 6.
  • the lifting system 6 moves the detection device 5 to a height Q2 greater than the height Q and the first sensor 8 detects the vertical movement of the detection device 5.
  • the control unit C sends a control signal of the movement means 7.
  • the movement means 7 rotate the detection device 5 about the axis of rotation A in such a way that it is directed towards the load 4'.
  • the second sensor 9 measures the angular movement of the detection device 5 about the axis of rotation A.
  • the control unit U receives and processes the data detected by the first sensor 8 and by the second sensor 9, to determine an operating condition of the detection device 5, and by the detection device 5, including the distances between the device itself and a plurality of points defining the load 4'.
  • control unit U From the processing of this data, having determined the operating condition of the detection device 5, the control unit U is able to determine the vertices B, B', C, C' defining the top surface S1 of the load 4'.
  • the control unit U is therefore able to determine the presence of the load 4' and to provide information on the overall dimensions of the load 4'.
  • the trailer 3 comprises a weight sensor 10 configured for measuring the weight of the load 4.
  • the weight sensor 10 is preferably a load cell.
  • the control unit U is configured to receive and process the data detected by the weight sensor 10.
  • measuring the weight of the load 4 and processing the data using the control unit U makes it possible to obtain information regarding the distribution of the loads 4 on the individual trailer 3 and in general on the tractor-trailer 1.
  • the control unit U is configured for comparing the top surface S1 of the load 4 and/or the weight of the load 4 with predetermined surface and/or weight values and defining a type of load 4.
  • the control unit U has access to an archive in which the predetermined surface and/or weight values are stored.
  • control unit U is configured to compare at least one predetermined size of the load 4, for example length, width or height, with predetermined values of the size and defining a type of load 4.
  • the control unit U has access to an archive in which the predetermined values of at least one size are stored.
  • the predetermined values are stored in the database individually and/or grouped in ranges.
  • the predetermined values determine the "small", “medium” and “large” ranges which define three different types of load 4 and the control unit U determines in which type each load 4 is to be positioned as a function of the values of the load 4 determined and/or detected and/or measured.
  • the comparison between the predetermined and/or detected and/or measured values and predetermined values allows the loads 4 positioned on the trailer 3 to be catalogued.
  • each catalogued load 4 allows the control unit U to determine whether the load 4 positioned on the trailer 3 is the expected load 4.
  • the control unit U is configured for controlling the tractor unit 2 as a function of the type of load 4 defined.
  • control unit U is configured for stopping the tractor-trailer 1 or setting up or modifying the advancement trajectory of the tractor-trailer 1 as a function of the type of load 4 positioned on the trailer 3.
  • control unit U configured for controlling the tractor unit 2 as a function of the type of load 4 defined makes it possible, for example, to avoid collisions for protruding loads 4, limiting the dangerous situations of falling of a load 4, defining optimum trajectories and forward speed for the tractor-trailer 1.
  • the tractor-trailer 1 comprises an interface I connected to the control unit.
  • the interface I is configured to receive from a user information regarding the load 4: predetermined values of surface and/or weight and/or sizes and/or type of load.
  • the user using the interface I, can enter the expected load 4 parameters even when the load 4 is not between the standard loads 4 whose parameters are stored in the database.
  • the interface I is configured to receive information regarding the number of trailers 3 of the tractor-trailer 1.
  • the interface I is configured to display the reconstructed images as a function of the data detected by the detection device 5.
  • the interface I is configured for displaying, preferably in real time, a diagram of the shape of the load 4.
  • the display on the interface I of the shapes of the loads 4 positioned on the trailer 3 allows a user to monitor which loads 4 are positioned on the tractor-trailer 1.
  • the tractor unit 2 is an autonomous or semi-autonomous driving unit.
  • the tractor unit 2 is guided manually.
  • the tractor-trailer 1 comprises an electric actuator 11.
  • the electric actuator 11 is configured to move the tractor-trailer 1.
  • the control unit U is configured for determining the relative angular position of an advancement trajectory of the tractor unit 2 relative to an advancement trajectory of the trailer 3.
  • the control unit U is configured for determining the relative angular position of an advancement trajectory of a trailer 3 relative to an advancement trajectory of a trailer 3 consecutive to it.
  • control unit U is able to determine whether the tractor-trailer 1 has all its components, tractor unit 2 and trailers 3, which are aligned with each other according to a common advancement direction.
  • the control unit U is able to determine the difference between the relative angular positions between the different directions of forward movement.
  • D1 is considered as an advancement direction of the tractor unit 2 and D2 as an advancement direction of a trailer 3.
  • the control unit U is configured for determining, continuously over time, the relative angular position of a trajectory of forward movement of the tractor unit 2 relative to an advancement direction of the trailer 3 and therefore determining the angle ⁇ between the advancement direction D1 of the tractor unit 2 and the advancement direction D2 of a trailer 3.
  • the possible determination of the difference between the relative angular positions between the different directions of forward movement of the tractor unit 2 and of a trailer 3, or of a trailer 3 and of the trailer 3 consecutive to it makes it possible to monitor the movement of the tractor-trailer 1.
  • the determination of a difference between the relative angular positions between the different directions of forward movement of the tractor unit 2 and of a trailer 3, or of a trailer 3 and of the trailer 3 consecutive to it makes it possible to stop or correct the movement of the tractor-trailer 1 if the difference is not planned.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Fertilizing (AREA)
  • Regulating Braking Force (AREA)
EP23151346.6A 2022-01-14 2023-01-12 Traktoranhänger Pending EP4212820A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102022000000518A IT202200000518A1 (it) 2022-01-14 2022-01-14 Carrello trattore.

Publications (1)

Publication Number Publication Date
EP4212820A1 true EP4212820A1 (de) 2023-07-19

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ID=80933168

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23151346.6A Pending EP4212820A1 (de) 2022-01-14 2023-01-12 Traktoranhänger

Country Status (2)

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EP (1) EP4212820A1 (de)
IT (1) IT202200000518A1 (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2568751A (en) * 2017-11-28 2019-05-29 Jaguar Land Rover Ltd Terrain analysis apparatus and method
WO2020147048A1 (en) * 2019-01-16 2020-07-23 Lingdong Technology (Beijing) Co. Ltd Unmanned movable platforms
CN113562094A (zh) * 2021-08-11 2021-10-29 南通科钛机器人系统有限公司 一种带有转向调节的搬运机器人

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2568751A (en) * 2017-11-28 2019-05-29 Jaguar Land Rover Ltd Terrain analysis apparatus and method
WO2020147048A1 (en) * 2019-01-16 2020-07-23 Lingdong Technology (Beijing) Co. Ltd Unmanned movable platforms
CN113562094A (zh) * 2021-08-11 2021-10-29 南通科钛机器人系统有限公司 一种带有转向调节的搬运机器人

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Publication number Publication date
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